JNTU B.Tech IV ACTUATORS AND ROBOT SYSTEMS Previous Question Paper (September - 2022 - R16)

Robots are classified based on several criteria to distinguish their capabilities and applications:

• Physical Configuration: Based on the coordinate system of the manipulator, such as Cartesian (rectangular), Cylindrical, Spherical (polar), and Articulated (anthropomorphic) robots.
• Control Method: Classified into Non-Servo robots (fixed stop-to-stop motion) and Servo robots (controlled path and velocity using feedback loops).
• Programming Method: Categorized as Manual (physical setting of stops), Lead-through (teaching by moving the arm), and Off-line programming (using computer-aided software).
• Application/Function: Grouped by their industrial utility, such as material handling, welding, painting, assembly, or inspection robots.
• Intelligence Level: Ranging from simple teleoperated machines to autonomous robots capable of sensing, processing, and decision-making using AI.

Roll, pitch, and yaw are Euler angles used to define the orientation of a rigid body in 3D space relative to a fixed reference frame.

• Roll: Rotation about the longitudinal axis (X-axis), representing the tilting motion from side to side.
• Pitch: Rotation about the transverse axis (Y-axis), representing the upward or downward tilting motion.
• Yaw: Rotation about the vertical axis (Z-axis), representing the side-to-side turning motion.

These parameters are significant in robotics for defining the End-Effector orientation. They allow a controller to precisely calculate the pose (position and orientation) of a robot's gripper or tool, which is essential for tasks like pick-and-place, trajectory planning, and navigation in complex environments.